A posture stability control method and system for a power conductor working device

Abstract

A posture stability control method and system for a power conductor operating device. The method relies on a posture stability control device, mainly including a height adjusting mechanism, a pitch adjusting mechanism, a telescopic driving mechanism, a clamping mechanism, and a duct fan; a controller and an IMU inertial measurement unit are arranged inside the device. When the device crosses obstacles, the telescopic and avoidance are completed through the cooperation of each mechanical mechanism; for the risk of overturning caused by sudden change of center of gravity in the obstacle crossing dynamic process, the invention uses the IMU to detect the pose data of the device in real time, and when the posture is unstable, the speed of the duct fan is dynamically adjusted by the controller to blow directionally. The invention uses the reverse air thrust to actively compensate and quickly stabilize the device pose, avoids the clamping failure and falling risk during obstacle crossing, and improves the safety and success rate of high-altitude operation.

Description

Technical Field

[0001] This invention belongs to the field of power special robots and automation control technology, specifically relating to a posture stabilization control method and system for power conductor operation equipment. Background Technology

[0002] With the rapid development of smart grids, the demand for power communication network construction is increasing, often requiring the winding of optical fibers onto existing high-voltage transmission lines to upgrade and expand communication network coverage.

[0003] Because such operations are often carried out in complex environments such as high altitudes and high voltages, traditional manual construction work is highly dangerous, labor-intensive, and inefficient, failing to meet the demands of modern power grids' transformation towards intelligence and high efficiency. Therefore, using fiber optic winding robots for automated cable routing and winding operations has become an important development direction in the industry. However, transmission lines inevitably contain various complex obstacles such as vibration dampers and spacers, requiring robots to possess obstacle-crossing capabilities during operations.

[0004] The existing fiber optic winding robots often face the following problems during obstacle crossing: (1) When crossing obstacles, the center of gravity of the equipment is easily shifted violently due to the extension and alternating gripping of the robotic arm, resulting in attitude instability; (2) The traditional mechanical counterweight attitude adjustment method has a slow response and significantly increases the weight of the equipment, making it difficult to meet the lightweight requirements of high-altitude operations; (3) When the equipment is in an abnormal posture, if there is no fast active recovery mechanism, the clamps are very likely to fail to be accurately aligned, posing a serious risk of the equipment falling from a height. Summary of the Invention

[0005] The technical solution of this invention is based on the implementation of Chinese patent application number 202611016928.8.

[0006] To address the shortcomings of existing technologies, this invention provides a posture stabilization control device and its operation control method for power conductor operation equipment. By real-time monitoring of the equipment's posture, active wind-driven posture adjustment is achieved using ducted fans to adapt to dynamic changes in the center of gravity during obstacle crossing. Simultaneously, multi-dimensional mechanical adjustments, including height, pitch, and extension / retraction, enable the equipment to smoothly cross obstacles.

[0007] The first aspect of this application discloses a method for attitude stabilization control of power conductor operating equipment, which adopts the following technical solution: The method is implemented based on a ducted fan and a controller mounted on the main body of the power conductor working equipment; the controller calculates the clamping reliability coefficient of each clamping component based on the clamping position of all clamping components on the main body of the equipment and the feedback signal of the drive clamping mechanism, extracts the clamping components in a reliable clamping state, and calculates the effective support position of the main body of the equipment. The main body of the equipment is divided into multiple mass units. For each mass unit, the mechanism state and position vector after the predicted time step are calculated based on the current mechanism state and the target motion speed. The predicted center of gravity position of the main body of the equipment is output based on the mass calculation. The predicted overturning moment is calculated based on the effective support position and the predicted center of gravity position. The unit thrust torque vector of the ducted fan relative to the effective support position is calculated based on the installation position and thrust direction of the ducted fan, and the torque component of the ducted fan in the compensable direction is determined by combining the predicted overturning moment. The feedforward control quantity of the ducted fan is generated based on the torque component, and the feedback control quantity is generated based on the attitude data of the ducted fan; the target thrust is generated by combining the feedforward and feedback control quantities to drive the ducted fan to adjust its speed.

[0008] The method is implemented based on an attitude stabilization control device mounted on the main body of the power conductor working equipment; the main body of the working equipment also includes a horizontally moving gantry mechanism. The attitude stabilization control device is installed on the horizontal moving gantry mechanism and includes two connecting plates facing each other and a ducted fan. The two connecting plates are fixed to the top of the horizontal moving gantry mechanism and bolted to the middle of the housing of the ducted fan. A controller and an IMU are installed at the top center of the horizontally moving gantry mechanism. The controller receives the attitude information of the main body of the working equipment and each component of the mechanism, which is calculated in real time by the IMU, and is used to control the ducted fan to generate directional thrust to adjust the attitude of the main body of the working equipment.

[0009] The calculation process for the clamping reliability includes: Based on the feedback signal from the driving clamping mechanism, extract the stroke completion signal, clamping current, clamping position, and clamping holding time; For the The clamping reliability coefficient of a clamping component is obtained by weighting one or more of the following: stroke completion judgment value, clamping current normalized judgment value, clamping position normalized judgment value, and clamping holding time normalized judgment value. When the When the clamping reliability coefficient of the clamping component is greater than or equal to the preset clamping reliability threshold, and the clamping current is greater than or equal to the preset clamping current threshold, it is determined that the first clamping component... Each clamping component is in a reliable clamping state.

[0010] The process of determining the effective support position includes: When only one clamping component of the main body of the equipment is in a reliable clamping state, the main body of the equipment is in a single-point support state; at this time, the clamping position of the clamping component in the reliable clamping state is determined as the effective support position. When two or more clamping components are in a reliable clamping state, the main body of the device is in a multi-point support state; at this time, the clamping positions of all clamping components in a reliable clamping state are normalized by the clamping reliability coefficient to obtain the effective support position.

[0011] Obtain the mechanism state and position vector after the predicted time step, including: The current organizational state refers to the current moment. The mechanism's operating state vector Including elevation Extension length of the telescopic mechanism Lateral displacement of the driving clamping mechanism And the adjustment angle of the pitch adjustment rotation component ; According to each mass unit The predicted time step is calculated by combining the current target velocity. The subsequent mechanism operating state vector ;based on The direction unit vector of each component is used to calculate the position of each mass unit. The predicted position vector below.

[0012] The calculation process for the predicted overturning moment includes: The predicted position vectors of all mass elements are normalized by the mass of the mass elements to obtain the predicted center of gravity position of the main body of the equipment. Subtracting the effective support position from the predicted center of gravity position yields the lever arm vector from the predicted center of gravity position to the effective support position. Multiplying this lever arm vector by the total mass of the equipment body and the gravitational acceleration yields the predicted overturning moment.

[0013] The determination process for the torque component of the ducted fan in the compensable direction includes: Calculate the lever arm from the ducted fan installation position to the effective support position, and combine this with the unit vector of the ducted fan's thrust direction to obtain the torque vector generated by the unit thrust. ; Calculate the predicted overturning moment in the moment vector The scalar projection on the surface yields the torque component that the ducted fan needs to compensate for. The torque component The positive or negative sign indicates the direction of the compensating torque.

[0014] The calculation process of the feedforward control quantity and the feedback control quantity includes: For the feedforward control quantity, calculate the torque component. The ratio of the module length to the equivalent vertical lever arm is used, and this ratio is limited to the allowable thrust range of the ducted fan by a limiting function to obtain the feedforward thrust; the equivalent vertical lever arm is a torque vector. The modulus length; For the feedback control quantity; based on the actual attitude of the ducted fan in the pitch and roll directions measured by the IMU, calculate the attitude deviation and attitude change rate of the ducted fan; weight the attitude deviation and attitude change rate to obtain the feedback thrust.

[0015] The integrated feedforward and feedback control quantities generate the target thrust, including: The feedforward thrust and the feedback thrust are summed and then limited to the allowable thrust range of the ducted fan using a limiting function to obtain the target thrust. The target thrust is converted into a PWM control signal to adjust the speed of the ducted fan.

[0016] The second aspect of this application discloses a posture stabilization control system for power conductor operating equipment, which implements the posture stabilization control method as described in the first aspect of this application. The system includes: Support state calculation module: The controller calculates the clamping reliability coefficient of each clamping component based on the clamping position of all clamping components on the main body of the equipment and the feedback signal of the drive clamping mechanism, extracts the clamping components in a reliable clamping state, and calculates the effective support position of the main body of the equipment. Overturning tendency prediction module: Divide the main body of the equipment into multiple mass units. For each mass unit, calculate the mechanism state and position vector after the predicted time step, combining the current mechanism state and target motion speed. Combine the mass calculation to output the current predicted center of gravity position of the main body of the equipment. Calculate the predicted overturning moment with the effective support position and the predicted center of gravity position. Overturning compensation calculation module: Calculates the unit thrust moment vector of the ducted fan relative to the effective support position based on the installation position and thrust direction of the ducted fan, and determines the moment component of the ducted fan in the compensable direction by combining the predicted overturning moment. The compensation control module generates a feedforward control quantity for the ducted fan based on the torque component and a feedback control quantity based on the attitude data of the ducted fan. It combines the feedforward and feedback control quantities to generate a target thrust to drive the ducted fan to adjust its speed.

[0017] The beneficial effects of this invention are that, compared with the prior art, By using active wind power generated by ducted fans for attitude adjustment, the robot overcomes the limitations of traditional mechanical counterweights or complex balancing mechanisms, which are characterized by heavy weight and slow response. This enables lightweight, high-response, and flexible attitude stabilization control. Real-time closed-loop feedback control of attitude is achieved through an IMU (Inertial Measurement Unit), which can quickly intervene in the event of a sudden change in the center of gravity when crossing obstacles, greatly reducing the risk of clamping failure and falls from heights due to attitude instability. Through the close coordination of height adjustment, lateral clamping and avoidance, pitch adjustment, and telescopic drive mechanisms, combined with the core wind-powered attitude active stabilization technology, the robot can smoothly, safely, and efficiently complete crossing and crawling operations when facing complex obstacles. Attached Figure Description

[0018] Figure 1 This is an overall structural diagram of the robot's main body; Figure 2 This is a detailed view of the attitude stabilization device; Figure 3 This is a structural diagram of the lifting mechanism; Figure 4 This is a structural diagram of the pitch adjustment mechanism; Figure 5 This is a structural diagram of a horizontally moving gantry mechanism; Figure 6 This is a structural diagram of the telescopic mechanism; Figure 7 This is an indicator diagram of the ball screw assembly; Figure 8 This is a schematic diagram showing the location of the winding component; Figure 9 This is a flowchart of the attitude stabilization control method.

[0019] It should be understood that the attached figures are not drawn to actual scale.

[0020] In the diagram, 1. Lifting mechanism; 11. Linear module; 2. Pitch adjustment mechanism; 21. Semicircular plate; 22. Pitch adjustment rotary assembly; 23. Pitch adjustment push rod; 3. Telescopic mechanism; 31. Telescopic arm component; 32. Drive component; 4. Horizontal moving gantry mechanism; 41. Controller; 42. IMU; 5. Attitude stabilization control device; 51. Connecting plate; 52. Ducted fan; 6. Drive clamping mechanism; 61. Ball screw component; 7. Winding assembly. Detailed Implementation

[0021] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of this invention. The embodiments described in this application are merely some embodiments of this invention, and not all embodiments. Based on the spirit of this invention, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of this invention.

[0022] Combination Figure 1-7 This invention designs a posture stability control method and device for working equipment around power conductors to solve the problem of posture instability caused by sudden changes in the center of gravity when fiber optic winding obstacle-crossing robots cross complex obstacles such as vibration dampers and hanging clamps, thereby achieving smooth transition and continuous operation of the robot.

[0023] Example 1 The present invention first provides an attitude stabilization control device for working around a power conductor. The attitude stabilization control device 5 is mounted on the main body of the working equipment. The main body of the working equipment also includes a lifting mechanism 1, a pitch adjustment mechanism 2, a telescopic mechanism 3, and a horizontal moving gantry mechanism 4.

[0024] The attitude stabilization control device 5 is installed on the horizontal moving gantry mechanism 4 and includes two opposing connecting plates 51 and a ducted fan 52. The two connecting plates 51 are fixed to the top of the horizontal moving gantry mechanism 4. The two connecting plates 51 are facing each other and are fixedly connected to the middle of the housing of the ducted fan 52 by bolt tightening. The ducted fan 52 is electrically connected to the controller 41 and is controlled to generate directional thrust to adjust the attitude of the equipment. The controller 41 is installed at the top center of the horizontal moving gantry mechanism 4.

[0025] The lifting mechanism 1 includes a linear module 11, which provides vertical power to the pitch adjustment structure when the equipment needs to overcome obstacles, and controls the lifting and lowering of the overall equipment; and a linear guide rail 12, which provides guidance for the lifting. The main body of the equipment also includes a drive clamping mechanism 6, which includes a ball screw component 61. During obstacle crossing, the ball screw drives the clamping claw to move laterally to avoid obstacles in space. The ball screw component 61 is suspended below the horizontal moving gantry mechanism.

[0026] The pitch adjustment mechanism 2 includes a semi-circular plate 21, a pitch adjustment rotating assembly 22, and a pitch adjustment push rod 23. One end of the pitch adjustment mechanism is hinged to the main body of the working equipment, and the other end is connected to the telescopic mechanism 3. The telescopic movement of the pitch adjustment push rod 23 drives the main body of the equipment to rotate around the hinge point to adjust the pitch angle. During obstacle crossing, the pitch adjustment push rod 23 cooperates with the clamping mechanism 6 to change the pitch angle during the lifting process of the lifting mechanism 1.

[0027] The pitch adjustment mechanism 2 is rotatably connected to the telescopic mechanism 3 through two pitch adjustment rotating components 22; the pitch adjustment mechanism 2 is linked with the main body of the working equipment and the telescopic mechanism 3, and is used to dynamically adjust the pitch angle of the working equipment during obstacle crossing, so that the main body of the working equipment can cross the obstacle in the height direction, and provide space for the telescopic mechanism to cross the obstacle. The telescopic mechanism 3 includes: a telescopic arm component 31 and a drive component 32; the telescopic arm component 31 is used to extend and retract during obstacle crossing by the drive component 32 to cross obstacles.

[0028] The horizontal moving gantry mechanism 4 is also equipped with a controller 41 and an IMU (inertial measurement unit) 42, and the IMU 42 is electrically connected to the controller 41.

[0029] Example 2 In one embodiment, a specific implementation of the attitude stabilization control method for working equipment around a power conductor proposed in this invention is disclosed.

[0030] When the fiber optic winding robot in this design detects an obstacle entering its obstacle-crossing procedure, the lifting mechanism 1 is activated first. The lifting mechanism 1 activates its internal linear module 11, which drives the pitch adjustment mechanism 2 to lift the winding assembly 7, facilitating obstacle crossing. The position of the winding assembly 7 is as follows: Figure 8 As shown. Subsequently, the drive clamping mechanism 6 drives the clamping assembly to move laterally via the internal ball screw component 61 to avoid spatial obstacles; at the same time, the telescopic mechanism 3 extends to the other side of the obstacle, preparing to reattach to the optical fiber after crossing it.

[0031] During the dynamic process of the telescopic mechanism 3 extending and the clamping mechanism 6 driving lateral avoidance, the robot's overall center of gravity will shift drastically. Since the robot is suspended on a flexible electrical conductor, this shift in the center of gravity can easily cause the robot to tilt violently in the pitch or roll direction. If not remedied in time, the telescopic mechanism 3 will be unable to align with the target landing point after clearing the obstacle, and may even cause the robot to fall.

[0032] To address this issue, this embodiment equips the robot with a ducted fan 52 and places a controller 41 and an IMU 42 for high-frequency communication with it at the top center of the horizontally moving gantry mechanism 4. The thrust vector direction of the ducted fan 52 is carefully designed to generate a counter-torque that counteracts the shift in the center of gravity.

[0033] In one implementation, combined Figure 9As shown, to avoid sudden changes in the center of gravity of the equipment working around power conductors during obstacle crossing due to lifting, extension, lateral avoidance, and clamping state switching, this embodiment further provides an attitude stability control method based on dynamic center of gravity prediction and safety margin assessment. The control method does not control the ducted fan 52 solely based on the current tilt angle of the equipment, but rather predicts the center of gravity position and overturning moment of the equipment during subsequent movements based on the obstacle crossing stage, the real-time status of each moving mechanism, and the clamping state. Combined with the attitude information measured by the IMU42, the ducted fan 52 and each moving mechanism are controlled collaboratively.

[0034] Example 3 As an example, based on the attitude stabilization control device 5 proposed in Example 1, the attitude stabilization control method proposed in Example 2 will be described in detail.

[0035] In a preliminary embodiment of this invention, a coordinate system is first established that moves with the main body of the working equipment. The origin of the coordinate system can be set at the geometric center of the main body of the working equipment, the center of the horizontal moving gantry mechanism 4, or other preset reference positions. This application does not strictly limit the position of the coordinate system origin. Based on the technical principles of this embodiment, those skilled in the art can adjust the parameters and implement different origin settings by referring to the technical principles.

[0036] S1. In one embodiment, the attitude state of the main body of the working equipment, the operating state of the mechanism and the clamping feedback state are obtained, and the current effective support position is calculated and determined.

[0037] 1.1 In a further embodiment, the attitude state of the main body of the working equipment, the operating state of the mechanism, and the clamping feedback state are obtained.

[0038] After the obstacle crossing procedure is initiated, the controller 41 acquires the attitude data output by the IMU 42 according to a preset sampling period. The attitude data includes at least the device's pitch angle. Roll angle Pitch angular velocity and roll rate .

[0039] The controller 41 simultaneously acquires the operating status of the lifting mechanism 1, the telescopic mechanism 3, the horizontal moving gantry mechanism 4, the pitch adjustment rotation component 22 in the pitch adjustment mechanism 2, and the drive clamping mechanism 6. The operating status includes at least the lifting height. Extension length of telescopic mechanism 3 Lateral displacement of the driving clamping mechanism 6 The adjustment angle of the pitch adjustment rotation component 22 The current direction of movement, speed of movement, and target position of each of the aforementioned institutions.

[0040] The operating status of the mechanism can be determined by the feedback values ​​of the position sensor, encoder, servo driver, motor operating pulse count, or motion control commands output by the controller 41.

[0041] The controller 41 also acquires the clamping feedback status of each clamping component, which includes at least a clamping state, a release state, and a clamping reliability coefficient. The clamping reliability coefficient can be determined based on one or more of the following: the stroke completion signal of the clamping component, the clamping motor current, the clamping position feedback, and the clamping holding time.

[0042] In a further embodiment, for the first Each clamping component has a clamping reliability coefficient. The method for determining it is as follows: ; in, , , and This represents the stroke completion judgment value, clamping current normalized judgment value, clamping position normalized judgment value, and clamping holding time normalized judgment value. , , and These are the weight coefficients corresponding to each judgment value, satisfying... In a specific implementation method that can be referenced, the calculation / acquisition method of each judgment value is described in detail: (1) Stroke completion judgment value When the travel completion signal is valid ,otherwise There is no intermediate state; (2) Normalized judgment value of clamping current The preset clamping current threshold is: When the clamping motor current hour, Otherwise, according to Normalize the values; (3) Clamping position normalized judgment value When the clamping position is fed back When it falls within the preset clamping position range, Otherwise, a value between 0 and 1 is used depending on the degree of deviation; in a specific implementation that can be referenced, feedback on the clamping position is given. When it does not fall within the preset clamping position range Value retrieval method: The preset clamping position range is Calculate clamping position feedback Deviation distance from the preset range boundary ;like Then the deviation distance ;like Then the deviation distance .

[0043] Furthermore, define the tolerance distance that is allowed to exceed the range. Based on the tolerance distance, the deviation distance will be Normalize to the [0,1] interval: ; That is, the clamping position feedback is obtained. When it does not fall within the preset clamping position range Values.

[0044] (4) Normalized judgment value of clamping and holding time The preset clamping holding time threshold is: When clamping and holding time hour, Otherwise, according to Normalize the values.

[0045] 1.2 The controller 41 determines the effective support position of the equipment based on the current obstacle crossing stage and clamping status.

[0046] The controller 41 divides the obstacle crossing process into at least one of the following stages based on the current motion command, actual position, and clamping status of each mechanism: initial stabilization stage, lifting stage, lateral avoidance stage, telescopic crossing stage, opposite side clamping stage, descent reset stage, and attitude abnormality recovery stage.

[0047] When at least two drive clamping mechanisms 6 of the device are in a reliable clamping state, the device is in a multi-point support state; when only one clamping component is in a reliable clamping state, the device is in a single-point or single-side support state. Multiple clamping components 62 are distributed at intervals along the longitudinal axis of the device body at the front and rear ends of the device, respectively used to clamp optical fibers or power conductors to provide multi-point support.

[0048] In a further embodiment, when and At that time, the judgment of the first Each clamping component is in a reliable clamping state. The preset clamping reliability threshold can be 0.8, or it can be determined based on experimental calibration. When When the value is below the preset abnormal threshold or the release signal is valid, the clamping component is determined to be in a released or abnormal clamping state.

[0049] For single-point or single-sided support conditions (only one clamping component is reliably clamped), the clamping position in the reliably clamped state is determined as the effective support position; in one implementation example, let the first... Each clamping component is reliably clamped, and its contact position with the optical fiber or power conductor is... Then the effective support position That is, the clamping position corresponding to the clamping component is taken. .

[0050] For multi-point support configurations, the equivalent support position is determined based on each clamping position and its corresponding clamping reliability coefficient, and is thus used as the effective support position. In one specific embodiment, the equivalent support position... Determined according to the following normalization method: ; In the formula, For the first The clamping position corresponding to a clamping component that is in a reliable clamping state. For the first The clamping reliability coefficient of each clamping component, and meets the following requirements. . This refers to the number of clamping components that ensure the main body of the working equipment is in a reliably clamped state.

[0051] In a further explanation, when the main body of the working equipment is in motion and the support is switched, the controller 41 can only include the target clamping component in the calculation of the effective support position after the target clamping component meets the above reliable clamping criteria. Before the target clamping component is in a reliable clamping state, the currently confirmed effective support position is still used for conservative control to prevent attitude instability caused by premature reliance on the unconfirmed clamping state.

[0052] In further explanation, when all clamping components on the main body of the equipment fail to meet the reliable clamping criterion, the controller 41 determines that the equipment is in a state of unreliable support. In the state of unreliable support, the controller 41 immediately enters a safe holding state or an emergency retraction state (see S4), suspending all mechanical actions that may cause further shift of the center of gravity.

[0053] In this application, the clamping position refers to the spatial coordinates of the contact point between the clamping component and the optical fiber or power conductor in the device coordinate system, expressed in the form of a position vector. It can be determined by coordinate transformation between the movement position of each mechanism obtained by the position sensor and the fixed installation position of the clamping component on the device.

[0054] S2. In one embodiment, the current center of gravity of the main body of the working equipment is calculated based on the current position of each mechanism component, and the center of gravity position and overturning moment of the equipment at future moments are predicted.

[0055] 2.1 Calculate the current center of gravity of the main body of the working equipment based on the current position of each component.

[0056] The components in the equipment that undergo relative motion are divided into multiple mass units, including at least the linear module 11 in the lifting mechanism 1, the telescopic arm component 31 in the telescopic mechanism 3, the lateral movement component in the drive clamping mechanism 6 (i.e., the drive clamping mechanism 6 itself, which is suspended below the horizontally moving gantry mechanism 4, and causes a change in the equipment's center of gravity during lateral movement), the ducted fan 52, and the winding assembly 7. Each mass unit has a known fixed mass, and its spatial position changes with the movement of the corresponding mechanism.

[0057] The controller 41 determines the current overall center of gravity position of the equipment based on the mass of each mass unit and its position in the current operating state of the mechanism. This is represented as: ; In the formula, For the first The mass of each mass unit The number of mass units to be divided. For the first The position vector of each mass element in the current mechanism state This is the vector representing the operational state of the mechanism.

[0058] In a further embodiment, the position vectors of different mass units in the current mechanism state are determined as follows: For a mass unit fixedly installed on the main body of the working equipment, such as a ducted fan 52, its position is as follows: ; For the first The initial installation position vector of each mass unit in the equipment coordinate system is stored in the controller 41; For the mass unit that moves with the lifting mechanism 1, such as the linear module 11, its position is... , The unit vector in the direction of elevation; For the mass unit that moves with the telescopic mechanism 3, such as the telescopic arm component 31, its position is... , The unit vector in the scaling direction; For the mass unit that moves with the lateral moving component, i.e., the driving clamping mechanism 6 itself, its position is... , The unit vector for lateral movement; For the mass unit that rotates around the hinge point with the pitch adjustment mechanism 2, such as the winding assembly 7, its position is... ; This refers to the position of the pitch rotation center (the position of the hinge point). To adjust the angle by pitch The rotation matrix that determines the rotation.

[0059] For example, if the pitch is rotated about the Y-axis, then .

[0060] In other embodiments, the center of gravity of the equipment can also be determined using a pre-established center of gravity mapping model. This model takes the lifting height, extension length, lateral displacement, pitch adjustment angle, and clamping state as inputs, and the center of gravity position of the equipment as the output. The center of gravity mapping model can be established through structural parameter calculation, experimental calibration, lookup table interpolation, or a combination of these methods. For example, one implementation of the interpolation method is given: To raise the height and telescopic length As a two-dimensional input grid, the projection values ​​of the device's center of gravity onto the X and Z axes are used as the output. Controller 41 calculates the output based on the currently sampled data. and The current centroid position is obtained by looking up a table using bilinear interpolation.

[0061] 2.2 Predict the center of gravity and overturning moment of the equipment at future moments.

[0062] Controller 41 based on the current mechanism state and the current target speed ,predict The status of the organization after the time: ; To predict the time step, the sampling period of controller 41 or an integer multiple thereof can be used.

[0063] Furthermore, the controller 41 determines the predicted mechanism state based on... The predicted centroid position is obtained by normalizing the mass of the mass unit. : ; The predicted position vectors for each mass element are determined using method 2.2 based on the predicted mechanism state. Please obtain.

[0064] 2.3 In a further embodiment, the controller 41 determines the center of gravity position based on the predicted position and the currently confirmed effective support position. The calculation device predicts the overturning moment.

[0065] First, based on the current center of gravity position and effective support position The current overturning moment generated by the computing device under gravity. : ; In the formula, and These are the total mass of the equipment and the gravitational acceleration vector, respectively. This is the lever arm vector from the current center of gravity position to the effective support position.

[0066] Furthermore, the predicted overturning moment is ; In one alternative implementation, when the target clamping component has met the reliable clamping criterion, the controller 41 can adjust the effective support position according to the updated criteria. Calculate and predict the overturning moment to more accurately reflect the moment trend after changes in clamping conditions. However, under the default control strategy, the currently confirmed effective support positions are used. Make conservative predictions to avoid prediction bias caused by relying too early on unconfirmed clamping conditions.

[0067] S3. Determine the compensability of the ducted fan 52 for the predicted overturning moment and calculate the overall safety margin of the equipment; generate the feedforward control quantity of the ducted fan 52 based on the predicted overturning moment and generate the feedback control quantity based on the attitude data of the IMU42.

[0068] 3.1 Determine the compensable components of the predicted overturning moment for the ducted fan 52.

[0069] Assume the installation position of the ducted fan 52 is as follows: Its thrust direction unit vector is The thrust generated by the ducted fan 52 is Then the ducted fan 52 is positioned relative to the effective support position. The resulting compensating torque is: ; If we define the torque vector generated by the unit thrust as... ,but .

[0070] Furthermore, the ducted fan 52 is set at its maximum permissible thrust. The maximum compensating torque that can be generated is Then the modulus of the maximum compensation torque is ; where the magnitude of the torque component is This indicates the thrust direction of the ducted fan 52 relative to the effective support position. The equivalent vertical lever arm can be denoted as: .

[0071] Furthermore, the controller 41 determines the overturning moment based on the predicted overturning moment. The ducted fan 52 determines the components in the compensable direction and the torque components that the ducted fan 52 needs to compensate for. : Predicting overturning moment exist The scalar projection is ; Here, To predict the scalar projection value of the overturning moment in the compensable direction of the ducted fan 52, its positive or negative sign indicates the direction of the required compensating moment. The controller 41, based on... The sign of the thrust determines the direction of the output. When a vector-based compensation component is required, it can be calculated using vector projection. .

[0072] When there are multiple ducted fans 52 with different thrust directions on the main body of the equipment, the controller 41 selects the ducted fan 52 corresponding to the required compensation direction to output thrust. If the ducted fan 52 has the ability to reverse or adjust the flow direction, the controller 41 generates a compensation torque in the opposite direction by changing its direction of rotation or flow direction.

[0073] when This indicates that the predicted overturning moment has exceeded the maximum compensation capacity of the ducted fan 52. This is the modulus of the torque component. At this point, controller 41 should no longer increase the speed of the ducted fan, but should limit or stop the movement of the mechanism that causes the center of gravity to continue to move in the dangerous direction.

[0074] In one implementation, when the equivalent vertical lever arm At this time, the controller 41 determines that the current compensation capability of the ducted fan 52 is insufficient. In this case, even if the ducted fan 52 outputs the maximum permissible thrust... The maximum compensating torque it generates This is still insufficient to effectively counteract the predicted overturning moment. At this point, controller 41 restricts or suspends the actions of the mechanism that cause the center of gravity to continue moving in the dangerous direction, or directly enters the safety holding state to prevent the equipment from overturning due to insufficient torque compensation capability. The lower limit of the equivalent vertical lever arm can be determined experimentally based on the performance parameters of the ducted fan 52 and the geometry of the equipment. In one example, the lower limit of the equivalent vertical lever arm... The following methods can be used for calibration: In the experimental environment, with the equipment at the critical tipping point, the vertical distance from the ducted fan installation position to the effective support point is measured and calibrated as the lower limit of the equivalent vertical lever arm. .

[0075] 3.2 In a further embodiment, the controller 41 calculates the torque compensation margin, attitude angle margin, angular velocity margin, and clamping margin, respectively. The meanings of the four margin indices are as follows: (1) Torque compensation margin, which characterizes the remaining compensation capacity of the ducted fan 52 for the predicted overturning moment; the torque compensation margin is calculated as follows: ;when When the value is greater than zero, it indicates that the ducted fan 52 still has residual compensation capacity; when When it approaches zero, it indicates that the ducted fan 52 is approaching its maximum compensation state; when When the value is less than zero, it indicates that the predicted overturning moment has exceeded the maximum compensation capacity of the ducted fan 52.

[0076] (2) Attitude angle margin, representing the remaining space between the current attitude angle and the maximum allowable deviation; attitude angle margin for: ; In the formula, and For the target attitude angle, and These are the maximum permissible pitch deviation and maximum roll deviation, respectively.

[0077] (3) Angular velocity margin, representing the remaining space between the current angular velocity and the maximum allowable angular velocity; angular velocity margin for: ; In the formula, and These are the maximum permissible pitch rate and maximum roll rate, respectively.

[0078] (4) Clamping margin, characterizing the current state of equipment clamping reliability; clamping margin Determined based on the clamping reliability coefficient of each clamping component, the number of reliable clamping components, and the current obstacle-crossing stage: ; This represents the total number of clamping components that are reliably clamped. Weighting coefficients during obstacle crossing phase, and when multiple points are reliably clamped. =1.0, when clamped on one side =0.5, in other cases =0.

[0079] The four margin indicators together constitute the comprehensive safety margin assessment system. Comprehensive Safety Margin Take the minimum value of the above four margins: ; In a further embodiment, the controller 41 also calculates the change in safety margin between adjacent sampling periods: ; For the sampling period index of controller 41, when When this occurs, it indicates that the safety margin of the equipment is decreasing; when When multiple consecutive sampling periods are less than the preset value, the attitude risk of the device is determined to be increasing rapidly.

[0080] 3.3. Generate the feedforward control quantity of the ducted fan 52 based on the predicted overturning moment, and generate the feedback control quantity based on the attitude data of the IMU42.

[0081] The controller 41 calculates the component of the predicted overturning moment in the direction that the ducted fan can compensate for. Calculate feedforward thrust ;in, This indicates the thrust direction of the ducted fan 52 relative to the effective support position. The equivalent vertical lever arm; and These are the minimum and maximum permissible thrust of the ducted fan 52, respectively. This is the amplitude limiting function.

[0082] when At that time, controller 41 starts the ducted fan 52 in advance to enter the predictive compensation state. Wherein is... The preset start-up ratio threshold can be set to 0.5, or it can be determined based on experimental calibration.

[0083] In a further embodiment, the controller 41 also calculates the attitude deviation and attitude change rate based on the actual attitude of the ducted fan 52 measured by the IMU 42, and then calculates the feedback thrust. The attitude deviation corresponding to the effective compensation direction of the ducted fan 52 is expressed as: ; Its rate of change is: ; and The attitude component coefficient, determined based on the installation direction of the ducted fan 52, ranges from [0,1] and represents the proportion of the effective compensation components of the thrust vector of the ducted fan 52 in both the pitch and roll directions. For example, if the ducted fan 52 is installed horizontally, its thrust direction is mainly along the roll direction, then... =0.9, =0.1; If the ducted fan 52 is installed at a 45° angle, then = ≈0.5. The specific value can be determined through experimental calibration or calculation based on installation geometry. Taking the installation direction as an example, the value is calculated based on the geometric projection of the ducted fan 52 thrust vector onto the equipment's pitch and roll axes. and .

[0084] The feedback thrust is: ; This is the attitude deviation feedback coefficient. This is the attitude change rate feedback coefficient. Attitude deviation feedback coefficient. It is a proportionality coefficient. The recommended value range is 0.5~2.0, representing the magnitude of the feedback thrust corresponding to a unit attitude angle deviation; attitude change rate feedback coefficient. This is a differential coefficient, with a recommended value range of 0.1 to 1.0, representing the magnitude of the feedback thrust corresponding to a unit change in angular velocity. It is used to provide a damping effect to suppress attitude oscillations. Both can be determined through experimental calibration, system identification, or conventional control parameter tuning methods.

[0085] The target thrust of the ducted fan 52 is: ; The controller 41 adjusts the target thrust based on the pre-calibrated mapping relationship between the ducted fan thrust and the PWM duty cycle. The thrust is converted into a PWM control signal to adjust the speed of the ducted fan 52. The mapping relationship between the thrust and the PWM duty cycle is obtained through bench testing, that is, by gradually increasing the PWM duty cycle in a stationary state and recording the actual thrust output by the ducted fan, and fitting a lookup table or linear function.

[0086] By combining feedforward control and feedback control, the ducted fan 52 can output compensating thrust in advance in response to impending changes in the center of gravity, and can also make real-time corrections based on the actual attitude deviations generated by the equipment, in order to cope with prediction errors, external disturbances and modeling uncertainties.

[0087] S4. In one embodiment, based on the comprehensive safety margin, its changing trend and the current obstacle crossing stage, the ducted fan 52 and each motion mechanism are subject to state-based coordinated control.

[0088] 4.1. Define the equipment control status; Controller 41 based on the current overall safety margin Safety margin change Predicted overturning moment compensation ratio In addition, during the current obstacle-crossing phase, equipment control is divided into normal operation state, predictive compensation state, dynamic stability state, safety maintenance state, and emergency backoff state.

[0089] (1) Normal operating condition: when the overall safety margin Not less than the first safety threshold The attitude angle and angular velocity are both within the normal range, and the predicted overturning moment is less than the preset starting moment ratio threshold. At this time, the controller 41 enters the normal operation state. In the normal operation state, the duct fan 52 is turned off or runs at a preset standby speed, and the lifting mechanism 1, the telescopic mechanism 3, the drive clamping mechanism 6 and the pitch adjustment rotation assembly 22 run at the original obstacle crossing speed.

[0090] (2) Predicted compensation state: When the current attitude of the device is still within the normal range, but Or when the overall safety margin shows a continuous downward trend (i.e., multiple consecutive sampling periods) and If the change exceeds a preset threshold, the controller 41 enters a predictive compensation state. In the predictive compensation state, the controller 41 adjusts the feedforward thrust based on the change threshold. The ducted fan 52 is started in advance, and each moving mechanism is allowed to continue to operate at the original speed.

[0091] (3) Dynamic steady state: When the overall safety margin is lower than the first safety threshold And not lower than the second safety threshold Or, when the IMU42 detects that the attitude angle or angular velocity exceeds the corresponding first control threshold, the controller 41 enters a dynamic stable state, whereby... .

[0092] In a dynamically stable state, the controller 41 controls the ducted fan 52 based on both feedforward and feedback thrust, and selectively reduces the mechanism's speed according to a comprehensive safety margin. In one embodiment, the scaling factor for the mechanism speed... ,Right now .

[0093] The actual target velocity of each mass unit is then... , The reference speed originally set for the obstacle crossing procedure.

[0094] For example, the first security threshold The value is 0.3, the second safety threshold. The value is 0.1, which is the preset starting torque ratio threshold. The value is set to 0.5. The above threshold can be adaptively adjusted based on the equipment's mass distribution, the maximum thrust of the ducted fan 52, and the experimentally calibrated critical overturning state. For example, and The safety margin can be determined by multiplying the overall safety margin recorded when the equipment reaches the critical overturning edge by a safety factor (e.g., 0.8) after applying simulated disturbances to the equipment.

[0095] In one implementation, to reflect selective speed reduction, controller 41 calculates the direction of the effect of continued movement of each mechanism on the predicted overturning moment. For continued movement that would... The enlarged mechanism, controller 41 reduces its speed or pauses its movement according to the scaling factor; for continued movement, it will... For mechanisms that decrease or do not significantly increase speed, controller 41 allows them to maintain their original speed or operate at a reduced speed by a small percentage. Specifically: Controller 41 obtains the current overall safety margin Reference speeds of each mass unit And the compensation component of the predicted overturning moment. .

[0096] Based on the current position of the mass element and the reference velocity, the position of the mass element in the next sampling period is predicted, and then the prediction compensation component is calculated. It needs to be explained that if Corresponding time ,but correspond .

[0097] Furthermore, the change in torque is calculated. ;like Greater than a positive threshold This indicates that moving along the current three-dimensional direction will increase the overturning moment, and the controller 41 will reduce the speed of the mechanism or stop it according to the scaling factor. Not greater than this positive threshold number If the current direction of motion is safe, it means that the original speed can be maintained or the speed can be reduced by a small percentage.

[0098] (4) Safety maintenance status: when the overall safety margin is lower than the second safety threshold Or the target thrust of the ducted fan 52 is close to the maximum permissible thrust, or When the first uncompensable torque threshold is exceeded, the controller 41 enters a safety holding state. In one possible embodiment, the first uncompensable torque threshold may be set to a value equal to or slightly less than the maximum compensation torque. ,like This is used to predict in advance that the ducted fan 52 is about to reach its compensation limit, so as to enter the safe holding state earlier and reserve recovery space.

[0099] In the safe holding state, controller 41 suspends the mechanism actions that would cause the center of gravity to continue moving in the dangerous direction, maintains the reliably clamped clamping components in the clamped state, and controls the duct fan 52 to output a safe thrust or maximum permissible thrust to counteract the overturning direction. The obstacle-crossing action resumes only after the attitude angle, angular velocity, and overall safety margin have returned to the preset range.

[0100] (5) Emergency rollback state: When the overall safety margin is less than zero, or If the clamping state is abnormal and the attitude angle exceeds the emergency threshold, or if all clamping components fail to meet the reliable clamping criteria, the controller 41 enters the emergency retraction state. In the emergency retraction state, the controller 41 stops the mechanism actions that cause the center of gravity to continue moving in the dangerous direction, keeps the reliably clamped clamping components in the clamped state, controls the duct fan 52 to output the maximum permissible thrust or safe thrust to counteract the overturning direction, and drives the lifting mechanism, telescopic mechanism, or lateral movement mechanism to retract in the opposite direction to the previous dangerous action to the mechanism state where the most recent safety margin is not lower than the first safety threshold S1; if retraction cannot be completed, an alarm is issued and the machine remains safely stopped.

[0101] Example 2 As an embodiment of this application, a posture stabilization control system for power conductor operating equipment is disclosed, employing the specific implementation of the above-described posture stabilization control method. The system includes: Support state calculation module: The controller calculates the clamping reliability coefficient of each clamping component based on the clamping position of all clamping components on the main body of the equipment and the feedback signal of the drive clamping mechanism, extracts the clamping components in a reliable clamping state, and calculates the effective support position of the main body of the equipment. Overturning tendency prediction module: Divide the main body of the equipment into multiple mass units. For each mass unit, calculate the mechanism state and position vector after the predicted time step, combining the current mechanism state and target motion speed. Combine the mass calculation to output the current predicted center of gravity position of the main body of the equipment. Calculate the predicted overturning moment with the effective support position and the predicted center of gravity position. Overturning compensation calculation module: Calculates the unit thrust moment vector of the ducted fan relative to the effective support position based on the installation position and thrust direction of the ducted fan, and determines the moment component of the ducted fan in the compensable direction by combining the predicted overturning moment. The compensation control module generates a feedforward control quantity for the ducted fan based on the torque component and a feedback control quantity based on the attitude data of the ducted fan. It combines the feedforward and feedback control quantities to generate a target thrust to drive the ducted fan to adjust its speed.

[0102] It should be understood that the sequence number of each step in the above embodiments does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present invention.

[0103] This disclosure can be a system, method, and / or computer program product. A computer program product may include a computer-readable storage medium having computer-readable program instructions loaded thereon for causing a processor to implement various aspects of this disclosure.

[0104] Computer-readable storage media can be tangible devices capable of holding and storing instructions for use by an instruction execution device. Computer-readable storage media can be, for example—but not limited to—electrical storage devices, magnetic storage devices, optical storage devices, electromagnetic storage devices, semiconductor storage devices, or any suitable combination of the foregoing. More specific examples (a non-exhaustive list) of computer-readable storage media include: portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), static random access memory (SRAM), portable compact disc read-only memory (CD-ROM), digital multifunction disc (DVD), memory sticks, floppy disks, mechanical encoding devices, such as punch cards or recessed protrusions storing instructions thereon, and any suitable combination of the foregoing. The computer-readable storage media used herein are not to be construed as transient signals themselves, such as radio waves or other freely propagating electromagnetic waves, electromagnetic waves propagating through waveguides or other transmission media (e.g., light pulses through fiber optic cables), or electrical signals transmitted through wires.

[0105] The computer-readable program instructions described herein can be downloaded from computer-readable storage media to various computing / processing devices, or downloaded via a network, such as the Internet, local area network, wide area network, and / or wireless network, to an external computer or external storage device. The network may include copper transmission cables, fiber optic transmission, wireless transmission, routers, firewalls, switches, gateway computers, and / or edge servers. A network adapter card or network interface in each computing / processing device receives the computer-readable program instructions from the network and forwards them to the computer-readable storage media in the respective computing / processing device.

[0106] Computer program instructions used to perform the operations of this disclosure may be assembly instructions, instruction set architecture (ISA) instructions, machine instructions, machine-dependent instructions, microcode, firmware instructions, status setting data, or source code or object code written in any combination of one or more programming languages, including object-oriented programming languages ​​such as Smalltalk, C++, etc., and conventional procedural programming languages ​​such as the "C" language or similar programming languages. The computer-readable program instructions may execute entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving a remote computer, the remote computer may be connected to the user's computer via any type of network—including a local area network (LAN) or a wide area network (WAN)—or may be connected to an external computer (e.g., via the Internet using an Internet service provider). In some embodiments, electronic circuitry, such as programmable logic circuitry, field-programmable gate arrays (FPGAs), or programmable logic arrays (PLAs), is personalized by utilizing the status information of the computer-readable program instructions to implement various aspects of this disclosure.

[0107] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit it. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art should understand that modifications or equivalent substitutions can still be made to the specific implementation of the present invention. Any modifications or equivalent substitutions that do not depart from the spirit and scope of the present invention should be covered within the protection scope of the claims of the present invention.

Claims

1. A method for attitude stabilization control of equipment operating around a power conductor, characterized in that, The method is implemented based on a ducted fan (52) and a controller (41) mounted around the main body of the power conductor operating equipment; including: The controller (41) calculates the clamping reliability coefficient of each clamping component based on the clamping position of all clamping components on the main body of the equipment and the feedback signal of the drive clamping mechanism (6), extracts the clamping components in a reliable clamping state, and calculates the effective support position of the main body of the equipment. The main body of the equipment is divided into multiple mass units. For each mass unit, the mechanism state and position vector after the predicted time step are calculated based on the current mechanism state and the target motion speed. The predicted center of gravity position of the main body of the equipment is output based on the mass calculation. The predicted overturning moment is calculated based on the effective support position and the predicted center of gravity position. The unit thrust torque vector of the ducted fan (52) relative to the effective support position is calculated based on the installation position and thrust direction of the ducted fan (52), and the torque component of the ducted fan (52) in the compensable direction is determined in combination with the predicted overturning moment. The feedforward control quantity of the ducted fan (52) is generated based on the torque component, and the feedback control quantity is generated based on the attitude data of the ducted fan (52); the target thrust is generated by combining the feedforward and feedback control quantities to drive the ducted fan (52) to adjust the speed.

2. The attitude stabilization control method for a working device around a power conductor according to claim 1, characterized in that, The method is implemented based on an attitude stabilization control device (5) mounted on the main body of the power conductor working equipment; the main body of the working equipment also includes a horizontal moving gantry mechanism (4). The attitude stabilization control device (5) is installed on the horizontal moving gantry mechanism (4) and includes two connecting plates (51) facing each other and a ducted fan (52). The two connecting plates are fixed to the top of the horizontal moving gantry mechanism (4) and bolted to the middle of the housing of the ducted fan (52). A controller (41) and an IMU (42) are installed at the top center of the horizontal moving gantry mechanism (4). The controller (41) receives the attitude information of the main body of the working equipment and each mechanism component calculated in real time by the IMU (42) and uses it to control the duct fan (52) to generate directional thrust to adjust the attitude of the main body of the working equipment.

3. The attitude stabilization control method for a working device around a power conductor according to claim 1, characterized in that, The calculation process for the clamping reliability includes: Based on the feedback signal from the driving clamping mechanism (6), the stroke completion signal, clamping current, clamping position, and clamping holding time are extracted; For the The clamping reliability coefficient of a clamping component is obtained by weighting one or more of the following: stroke completion judgment value, clamping current normalized judgment value, clamping position normalized judgment value, and clamping holding time normalized judgment value. When the When the clamping reliability coefficient of the clamping component is greater than or equal to the preset clamping reliability threshold, and the clamping current is greater than or equal to the preset clamping current threshold, it is determined that the first clamping component... Each clamping component is in a reliable clamping state.

4. The attitude stabilization control method for a working device around a power conductor according to claim 1, characterized in that, The process of determining the effective support position includes: When only one clamping component of the main body of the equipment is in a reliable clamping state, the main body of the equipment is in a single-point support state; at this time, the clamping position of the clamping component in the reliable clamping state is determined as the effective support position. When two or more clamping components are in a reliable clamping state, the main body of the equipment is in a multi-point support state. At this time, the clamping positions of all clamping components in a reliable clamping state are normalized by the clamping reliability coefficient to obtain the effective support position.

5. The attitude stabilization control method for a working device around a power conductor according to claim 1, characterized in that, Obtain the mechanism state and position vector after the predicted time step, including: The current organizational state refers to the current moment. The mechanism's operating state vector Including elevation The extension length of the telescopic mechanism (3) Lateral displacement of the driving clamping mechanism (6) and the adjustment angle of the pitch adjustment rotation component (22) ; According to each mass unit The predicted time step is calculated by combining the current target velocity. The subsequent mechanism operating state vector ;based on The direction unit vector of each component is used to calculate the position of each mass unit. The predicted position vector below.

6. The attitude stabilization control method for a working device around a power conductor according to claim 1, characterized in that, The calculation process for the predicted overturning moment includes: The predicted position vectors of all mass elements are normalized by the mass of the mass elements to obtain the predicted center of gravity position of the main body of the equipment. Subtracting the effective support position from the predicted center of gravity position yields the lever arm vector from the predicted center of gravity position to the effective support position. Multiplying this lever arm vector by the total mass of the equipment body and the gravitational acceleration yields the predicted overturning moment.

7. The attitude stabilization control method for a working device around a power conductor according to claim 1, characterized in that, The determination process for the torque component of the ducted fan (52) in the compensable direction includes: Calculate the lever arm from the installation position of the ducted fan (52) to the effective support position, and combine it with the unit vector of the thrust direction of the ducted fan (52) to obtain the torque vector generated by the unit thrust. ; Calculate the predicted overturning moment in the moment vector The scalar projection on the ducted fan (52) yields the torque components that need to be compensated. The torque component The positive or negative sign indicates the direction of the compensating torque.

8. The attitude stabilization control method for a working device around a power conductor according to claim 1, characterized in that, The calculation process of the feedforward control quantity and the feedback control quantity includes: For the feedforward control quantity, calculate the torque component. The ratio of the module length to the equivalent vertical lever arm is used to limit the ratio within the allowable thrust range of the ducted fan (52) through a limiting function to obtain the feedforward thrust; the equivalent vertical lever arm is a torque vector. The modulus length; For the feedback control quantity; based on the actual attitude of the ducted fan (52) in the pitch and roll directions measured by the IMU (42), calculate the attitude deviation and attitude change rate of the ducted fan (52); weight the attitude deviation and attitude change rate to obtain the feedback thrust.

9. The attitude stabilization control method for a working device around a power conductor according to claim 1, characterized in that, The integrated feedforward and feedback control quantities generate the target thrust, including: The feedforward thrust and the feedback thrust are summed and then limited to the allowable thrust range of the ducted fan (52) by a limiting function to obtain the target thrust; The target thrust is converted into a PWM control signal to adjust the speed of the ducted fan (52).

10. A posture stabilization control system for an electrical conductor operating device, executing the posture stabilization control method as described in any one of claims 1-9, characterized in that, The system includes: Support state calculation module; The controller (41) calculates the clamping reliability coefficient of each clamping component based on the clamping position of all clamping components on the main body of the equipment and the feedback signal of the drive clamping mechanism (6), extracts the clamping components in a reliable clamping state, and calculates the effective support position of the main body of the equipment. Overturning tendency prediction module: Divide the main body of the equipment into multiple mass units. For each mass unit, calculate the mechanism state and position vector after the predicted time step, combining the current mechanism state and target motion speed. Combine the mass calculation to output the current predicted center of gravity position of the main body of the equipment. Calculate the predicted overturning moment with the effective support position and the predicted center of gravity position. Overturning compensation calculation module: Calculates the unit thrust torque vector of the ducted fan (52) relative to the effective support position based on the installation position and thrust direction of the ducted fan (52), and determines the torque component of the ducted fan (52) in the compensable direction in combination with the predicted overturning moment; The compensation control module generates a feedforward control quantity for the ducted fan (52) based on the torque component and generates a feedback control quantity based on the attitude data of the ducted fan (52); it combines the feedforward and feedback control quantities to generate a target thrust to drive the ducted fan (52) to adjust its speed.

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